TW201402399A - Power assisting bicycle gearshift system with pedaling position as judgment basis - Google Patents

Abstract

This invention provides a power assisting bicycle gearshift system with pedaling position as the judgment basis, which comprises a power module, a microcomputer, a gearshift actuator, and a pedal position sensor module used to acquire the angular position of at least one crank. The microcomputer is configured with logic for gear-shifting operations. Prior to controlling gear shifting control, the microcomputer executes the logic for gear-shifting operation, of which the flow is as follows: (1) when the angular position of at least one crank passes through the first angular position, the assisting power outputted by the motor is lowered down to a first assisting power value; (2) when the angular position of the at least one crank departs from the first angular position and passes through a pedaling dead point, the assisting power outputted by the motor is lowered down to the minimum; (3) gear-shifting is executed; and (4) upon completing the gear-shifting, the assisting power outputted by the motor is controlled to return to the magnitude prior to the step (1).

Description

Power bicycle shifting system based on the position of pedaling

The invention relates to a shifting system for assisting a bicycle, and in particular to a assisted bicycle shifting system based on the position of the pedaling.

The conventional bicycle assists the motor by the microcomputer to control the motor when it is stepped on. It does not provide power when it is not stepped on. This makes it easier for the rider to step on the pedal without reducing the pedaling. fun of. When riding a power-assisted bicycle, the microcomputer will judge whether the motor should be controlled to change the output assist due to the terrain, speed or gear position. That is, the power provided by the motor will change during the riding due to the control of the microcomputer.

Conventional assisted bicycles usually also have an automatic shifting function, which is usually placed in the microcomputer with a shifting logic. When the shifting condition of the shifting logic is reached, for example, when the vehicle speed reaches a predetermined speed, the microcomputer controls the corresponding When the transmission shifts, the rider changes the gear ratio due to the shifting action and feels that the pedaling load and the pedaling frequency have changed. Moreover, the microcomputer can also receive the rider's shift command by pressing the shift button by the rider to cooperate with the shift.

However, in the conventional booster bicycle, since the rider is still stepping on during the shifting process, the microcomputer is considered to be in a normal state and controls the motor to output a sufficient amount of power due to the pedaling action. This full amount of power and the force of the rider's pedaling will cause the transmission to change the gear ratio during the shifting process, and the bite will not be smooth. It may also cause the chain to break or the transmission to be damaged.

The main object of the present invention is to provide a power bicycle shifting system based on the stepping position, which can detect the stepping position and reduce the assist when shifting according to the judgment, so that the shifting process is smooth, and This reduces the chance of damage to the chain and the transmission.

In order to achieve the foregoing objective, a power bicycle shifting system based on the stepping position is provided on a power assisting bicycle having a motor and a shifter, the assist bicycle shifting system includes: a power module; a microcomputer electrically connected to the power module and the motor for controlling the output assist of the motor; a shift driver electrically connected to the microcomputer and physically connected to the shifter, The microcomputer is controlled to drive the shifter for shifting; and a pedal position sensing module is disposed on the assist bicycle to correspond to at least one crank of the assist bicycle, and is electrically connected to the microcomputer, and the microcomputer is borrowed The angle position of the at least one crank is known by the pedal position sensing module; the microcomputer has a shifting action logic, and the microcomputer performs the shifting instruction or the shifting command received by the rider The shifting action logic; the flow of the microcomputer executing the shifting action logic is: (1) when the angular position of the at least one crank passes through a first corner In position, the output assist of the motor is reduced to a first assist value; (2) when the angular position of the at least one crank is away from the first angular position, and the microcomputer outputs the motor when a step is pressed The boost is reduced to a minimum; (3) the microcomputer controls the shift drive driver The shifter performs shifting; (4) after the shift is completed, the microcomputer controls the output of the motor to restore the assist force before the flow (1).

Preferably, the stepping point is the angular position of the at least one crank when the pedaling moment is minimum.

Preferably, the angular position of the pedaling dead point is the highest point (0 degree) or the lowest point (180 degrees) of the pedal position.

Preferably, the pedal position sensing module has a sensor.

Preferably, the sensor of the pedal position sensing module is a Bottom Bracket Sensor (BB sensor) installed in the five-way tube of the assist bicycle.

Preferably, the sensor of the pedal position sensing module is a light interrupter mounted on the frame of the power bicycle.

Preferably, the shifting action logic further includes a process (1.1), when the angular position of the at least one crank passes through a second angular position, reducing the output assist of the motor to a second assisting force. The value (2) is correspondingly changed to: when the angular position of the at least one crank is away from the second angular position, and the microcomputer reduces the output assist of the motor by a stepping on the dead point.

Preferably, the first angular position of the shifting action logic in the flow (1) is an angular position of the pedal position of 0 degrees or 90 degrees, wherein the highest point of the pedal position is defined as 0 degrees; in the flow (1.1) The second angular position in the middle is 45 degrees or 135 degrees with respect to the horizontal plane.

Preferably, the first assist value is 50% of the maximum output assist value of the motor; the second assist value is 30% of the maximum output assist value of the motor; When the output assist of the motor is reduced to the minimum, it is 10% of the maximum output assist value of the motor.

Preferably, the first assist value is 30% of the maximum output assist value of the motor; when the output assist of the motor is minimized, it is 10% of the maximum output assist value of the motor.

In order to explain the technical features of the present invention in detail, the following preferred embodiments are described below with reference to the accompanying drawings, wherein, as shown in FIG. 1 to FIG. 5, a preferred embodiment of the present invention provides a preferred embodiment of the present invention. The assisted bicycle shifting system 10 based on the stepping position is mainly disposed on a power assisting bicycle 90 having a motor 91 and a shifter 93. The assisted bicycle shifting system 10 is mainly composed of a power module 11 and a The microcomputer 21, a shift driver 31, and a pedal position sensing module 41 are formed. The power module 11 is disposed on the power bicycle 90 and electrically connected in the embodiment. Connected to the motor 91 for providing power.

The microcomputer 21 is electrically connected to the power module 11 and the motor 91 for controlling the output assist of the power module 11 and the motor 91.

The shift driver 31 is electrically connected to the microcomputer 21 and is physically connected to the shifter 93, and is controlled by the microcomputer 21 to drive the shifter 93 for shifting.

The pedal position sensing module 41 is disposed on the assist bicycle 90 The at least one crank 95 of the assist bicycle 90 is electrically connected to the microcomputer 21, and the microcomputer 21 knows the angular position of the at least one crank 95 by the pedal position sensing module 41. Since the two crank positions of the bicycle are exactly 180 degrees angular position, the angle position of one crank can be detected only when the implementation is performed, and the angular position of the other crank can be directly added by 180 degrees, and of course, It is also possible to detect the angular position of two cranks, not to limit the detection of only one crank. In this embodiment, the pedal position sensing module 41 has a sensor 42 and a Bottom Bracket Sensor (BB sensor) as an example. As shown in the third figure, the system is installed. In the five-way pipe (not shown) of the assist bicycle 90.

The microcomputer 21 has a shift action logic 22 that executes the shift action logic 22 when it is determined by itself that a shift is to be made or a shift command is received from the rider. The microcomputer 21 may have a conventional shift logic 24 to determine the timing of the shift, and the rider's shift command may be a shift button that is conventionally disposed on the handle (not shown) Show) to input a shift command to the microcomputer 21.

As shown in the fourth and fifth figures, the flow of the microcomputer 21 executing the shifting action logic 22 is: (1) when the angular position of the crank 95 passes through a first angular position P1, the motor 91 is lowered. The output assists to a first boosting value; in the first embodiment, the first angular position P1 can be an angular position of the pedal position of 0 degrees or 90 degrees, and 0 degrees is taken as an example, wherein the highest point of the pedal position is defined as 0. The first assist value is exemplified by 30% of the maximum output assist value of the motor 91. (2) When the angular position of the crank 95 is away from the first angular position P1, and by stepping on the dead point Pd, the microcomputer 21 will The output assist of the motor 91 is minimized. In the first embodiment, the stepping point Pd is the angular position of the crank 95 when the pedaling moment is minimum, that is, the highest point (0 degree) or the lowest point of the pedal position (180). The angular position of the motor; the output assist of the motor 91 is minimized, and 10% of the maximum output assist value of the motor 91 is taken as an example. (3) The microcomputer 21 controls the shift driver 31 to drive the shifter 93 to perform shifting. (4) After the shift is completed, the microcomputer 21 controls the output assist of the motor 91 to return to the assist amount before the flow (1).

The architecture of the first embodiment has been described above, and the operation state of the first embodiment will be described next.

In the state of normal riding without shifting, the rider pedals the pedal to drive the crank 95 to rotate, and the microcomputer 21 controls the motor 91 to output an appropriate assist according to a normal state.

When the microcomputer 21 determines that the shifting or the rider inputs a shift command to the microcomputer 21, the shifting action logic 22 is executed. At this time, the microcomputer 21 is sensed by the pedal position sensing module 41. The signal is sent to determine the position of the crank 95. When the crank 95 passes the first angular position P1 (for example, 0 degrees), the output assist of the motor 91 is lowered to the first assist value (ie, 30% of the maximum output of the motor 91), and When the crank 95 continues to rotate to a stepping point Pd due to the pedaling, the microcomputer 21 minimizes the output assist of the motor 91 (i.e., 10% of the maximum output of the motor 91), after which the microcomputer 21 controls the shifting. The action, and after the shift is completed, controls the motor 91 to return to the assist level before the shift. Among them, during the shifting, the output assist of the motor 91 has been minimized, and at the same time, the crank 95 position is also located at the stepping dead point Pd (the position with the lowest pedaling moment) Therefore, the force applied to the chain 97 at this time is the smallest. At this time, the shifting is the smoothest, and the chain 97 or the shifter 93 is the least likely to be damaged, effectively reducing the probability of damage.

It should be noted that the sensor 42 of the pedal position sensing module 41 is not limited to the five-way sensor, and may be mounted on the frame of the assist bicycle 90 as a photointerrupter. The angular position of the crank 95 is detected by the shading effect when the crank 95 passes. Since the working principle of the photointerrupter is very well known, and it is also used to assist the bicycle industry in the crank position sensing technology, the capacity is no longer expressed in the figure.

It can be seen that the first embodiment reduces the assisting force during the shifting by detecting the stepping position and relieving the basis of the judgment, thereby smoothing the shifting process and further reducing the probability of the chain 97 and the shifter 93 being damaged. .

Please refer to the sixth embodiment and the seventh figure. The assist bicycle shifting system 10 based on the tread position is provided in the second preferred embodiment of the present invention, which is mainly similar to the first embodiment disclosed above. The shift operation logic 22' further includes a flow (1.1) after the flow (1). When the angular position of the crank 95 passes through a second angular position P2, the output assist of the motor 91 is lowered to A second booster value. The flow (2) is correspondingly changed to: when the angular position of the crank 95 is away from the second angular position P2, the microcomputer 21' minimizes the output assist of the motor 91 when the dead point Pd is stepped. .

In the second embodiment, the first angular position P1 is an angular position of the pedal position of 0 degrees or 90 degrees, wherein the highest point of the pedal position is defined as 0 degrees, and the second angular position P2 is 45 degrees of the pedal position. Or 135 degrees example. The first assist value is exemplified by 50% of the maximum output assist value of the motor 91, and the second assist value is exemplified by 30% of the maximum output assist value of the motor 91.

The second embodiment is different in operation from the first embodiment in that the microcomputer 21' executes the shift action logic 22', when the crank 95 passes the first angular position P1 (with 0). For example, the output assist of the motor 91 is reduced to the first assist value (ie, 50% of the maximum output of the motor 91); when the crank 95 passes the second angular position P2 (take 45 degrees as an example) When the output assist of the motor 91 is lowered to the second assist value (i.e., 30% of the maximum output of the motor 91); while the crank 95 continues to be rotated to a stepping point Pd by pedaling, the microcomputer 21 'The output assist of the motor 91 is minimized (i.e., 10% of the maximum output of the motor 91), after which the microcomputer 21' controls the shifting operation and controls the motor 91 to return to the position after the shift is completed. The amount of assist before shifting.

In the second embodiment, the second angular position P2 of the crank 95 is increased, which causes the microcomputer 21' to reduce the assist force during shifting to 50% (the first angular position). P1), then reduce to 30% (second angle position P2), and finally to the lowest 10% (stepping dead point Pd), such a reduction in power is more moderate, the rider will not feel the change of assist The magnitude is too large, and there is no sense of suddenness.

The remaining architectures of the second embodiment and the achievable functions are the same as those of the first embodiment, and will not be described again.

10‧‧‧Power bicycle shifting system based on the position of the pedaling

11‧‧‧Power Module

21‧‧‧Microcomputer

22‧‧‧shift action logic

24‧‧‧shift logic

31‧‧‧Shifting drive

41‧‧‧ pedal position sensing module

42‧‧‧ Sensor

10'‧‧‧Power bicycle shifting system based on the position of the pedaling

21’‧‧‧Microcomputer

22’‧‧‧shift action logic

90‧‧‧Power bicycle

91‧‧‧Motor

93‧‧‧Shifter

95‧‧‧ crank

97‧‧‧Chain

P1‧‧‧first angular position

P2‧‧‧second angle position

Pd‧‧‧ stepping on the dead

The first figure is a schematic structural view of a first preferred embodiment of the present invention, showing the connection relationship between the elements.

The second drawing is a schematic view of the installation of the first preferred embodiment of the present invention.

The third figure is a schematic view of a partial component of a first preferred embodiment of the present invention, showing the form of a five-way tube sensor.

The fourth figure is a flow chart of the first preferred embodiment of the present invention, showing the flow of the shifting action logic.

The fifth drawing is an angled view of the first preferred embodiment of the present invention, showing the state in which the crank angle corresponds to each angular position.

Figure 6 is a flow chart showing a second preferred embodiment of the present invention showing the flow of the shifting action logic.

Figure 7 is an angled view of a second preferred embodiment of the present invention showing the state of the crank angle corresponding to each angular position.

Claims (11)

A power bicycle shifting system based on a stepping position is provided on a power bicycle having a motor and a shifter, the power bicycle shifting system comprising: a power module; a microcomputer, electrically connected to The power module and the motor are used to control the output assist of the motor; a shifting driver is electrically connected to the microcomputer and is physically connected to the shifter, and is controlled by the microcomputer to drive the shifter for replacement. And a pedal position sensing module disposed on the assist bicycle and corresponding to the at least one crank of the assist bicycle, and electrically connected to the microcomputer, the microcomputer is known by the pedal position sensing module An angular position of the at least one crank; the microcomputer has a shifting action logic, and the microcomputer executes the shifting action logic when it is determined that the shifting is to be performed or the shifting instruction is received by the rider; the microcomputer is executing the The flow of the shifting action logic is: (1) when the angular position of the at least one crank passes through a first angular position, the output assist of the motor is reduced to a first a boosting value; (2) when the angular position of the at least one crank leaves the first angular position, and the microcomputer reduces the output assist of the motor by a stepping on the dead point; (3) the microcomputer controls the change The gear drive drives the shifter for shifting; (4) after the shift is completed, the microcomputer controls the output of the motor to restore the assist force before the process (1). The bicycle shifting system based on the stepping position is determined according to the first aspect of the patent application, wherein the stepping point is the angular position of the at least one crank when the pedaling moment is minimum. The assist bicycle shifting system based on the stepping position is determined according to the second aspect of the patent application, wherein: the angular position of the stepping dead point is the highest point (0 degree) or the lowest point (180 degrees) of the pedal position. The bicycle shifting system based on the stepping position is determined according to the first aspect of the patent application, wherein the pedal position sensing module has a sensor. According to the fourth aspect of the patent application, the bicycle shifting system based on the tread position is determined, wherein the sensor of the pedal position sensing module is a Bottom Bracket Sensor (Bottom Bracket Sensor, BB sensor), installed in the five-way pipe of the booster bicycle. According to the fourth aspect of the patent application, the bicycle shifting system based on the stepping position is determined, wherein the sensor of the pedal position sensing module is a light interrupter, and is mounted on the assist bicycle. On the frame. The bicycle shifting system based on the tread position as described in claim 1 of the patent application scope, wherein: the shifting action logic after the process (1) further comprises a process (1.1) when the at least one crank When the angular position passes through a second angular position, the output assist of the motor is reduced to a second assist value; and the flow (2) is correspondingly changed to: when the angular position of the at least one crank is away from the second angular position, The microcomputer reduces the output assist of the motor to a minimum when stepping on a dead point. Judging by the position of the tread as described in item 7 of the scope of application The basic assisted bicycle shifting system, wherein: the first angular position of the shifting action logic in the flow (1) is an angular position of the pedal position of 0 degrees or 90 degrees, wherein the highest point of the pedal position is defined as 0 degrees The second angular position in the flow (1.1) is 45 degrees or 135 degrees of the pedal position. According to the seventh aspect of the patent application, the bicycle shifting system based on the tread position is determined, wherein: the first assist value is 50% of the maximum output assist value of the motor; the second assist value is the highest motor Outputs 30% of the assist value; when the motor's output assist is minimized, it is 10% of the motor's highest output assist value. The assist bicycle shifting system based on the stepping position as described in the first claim of the patent application, wherein: the first assist value is 30% of the maximum output assist value of the motor; and the output assist of the motor is minimized It is 10% of the motor's highest output assist value. The bicycle shifting system based on the stepping position as described in claim 1 of the patent application, wherein: the shifting action logic is at the first angular position in the flow (1), and the pedal position is 0 degrees or An angular position of 90 degrees, wherein the highest point of the pedal position is defined as 0 degrees.